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United States Patent | 5,531,520 |
Grimson ,   et al. | July 2, 1996 |
The present invention provides an image data registration system and method of storing a first data set of three-dimensional image data associated with a predetermined portion of an object with reference to a first coordinate frame; obtaining and storing a second data set of three-dimensional image data associated with a surface of the predetermined portion of the object with reference to a second coordinate frame; and registering the first data set and the second data set to generate a matched image data set in which the first coordinate frame is aligned with the second coordinate frame. In an alternative embodiment, the present invention provides a method of registering three-dimensional data sets, comprising generating a first data set of image data with reference to a first coordinate frame; generating a second data set of image data with reference to a second coordinate frame; selecting a predetermined subset of data points from the first data set; matching the subset of data points to all possible corresponding subsets of data points associated with the second data set and producing a set of hypothesized transformation data sets; and sequentially mapping said second data set to each of the hypothesized transformation data sets to form a solution data set, the solution data set representative of a highly accurate transformation of the second data into the first coordinate frame associated with the first data set.
Inventors: | Grimson; W. Eric L. (Lexington, MA); White; Steven J. (Boston, MA); Ettinger; Gil J. (Lexington, MA); Wells, III; William M. (Cambridge, MA); Lozano-Perez; Tomas (West Newton, MA); Kikinis; Ronald (Brookline, MA) |
Assignee: | Massachusetts Institute of Technology (Cambridge, MA); TASC, Inc. (Reading, MA); The Brigham & Women's Hospital, Inc. (Boston, MA) |
Appl. No.: | 299378 |
Filed: | September 1, 1994 |
Current U.S. Class: | 382/131; 382/154; 382/294 |
Intern'l Class: | G06K 009/00 |
Field of Search: | 382/100,131,154,284,293,294,318 348/77 364/413.13,413.14,413.19 356/376 128/653.1,653.2,659,665 |
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